JP6803904B2 - Coating plant robot - Google Patents

Description

The present invention particularly relates to a coating plant robot as a manipulating robot for opening and closing an automobile body during a painting process.

In modern painting plants for painting car body units, doors and hoods (trunk hoods and engine hoods) are opened to allow internal painting inside the car body during the painting process. After that, the doors and hoods must be closed again. For this reason, a manipulator robot that is typically configured as a SCARA (Selective Company Assist Robot Arm) robot and has a rotation axis that is exclusively parallel and sometimes oriented in the vertical direction is usually employed. Such SCARA robots typically have a gripper for opening the door of the vehicle body.

The disadvantage of such SCARA robots is that they have relatively low mechanical rigidity, which can be a problem for both static and dynamic loads.

A further drawback of known SCARA robots is their limited reach. This problem can be solved by an additional linear travel axis to which the SCARA robot is movably mounted. However, these straight shafts are susceptible to dirt and come with additional investment and maintenance costs. Another solution to the limited reach is to provide additional joints and robotic elements that can extend the reach of the SCARA robot. However, the drawback of this solution is that the SCARA robot, even in the folded state, forms a relatively large interference contour, which is directed downwards in other robots and painting booths. It can be an obstacle.

Patent Document 1 and Patent Document 2 are referred to as prior art. These documents disclose a coating robot having a robotic motion mechanism that combines a serial motion mechanism with a parallel motion mechanism. However, these known robots are not about manipulating robots, but about painting robots. Further, in these documents, the parallel motion mechanism is located proximally and mounted on the ceiling or wall of the painting booth. Therefore, the parallel motion mechanism does not constitute a robot arm in a strict sense.

Further, with reference to Patent Document 3, Patent Document 4, Patent Document 5, Patent Document 6, and Patent Document 7 for the general technical background of the present invention.

European Patent Application Publication No. 1614480 German Patent Application Publication No. 1020050333972 UK Patent Application Publication No. 2516545 German Patent Application Publication No. 102011121343 U.S. Pat. No. 5,423,648 Japanese Unexamined Patent Publication No. 2003-0899090 U.S. Pat. No. 4,342,536

Therefore, an object of the present invention is to provide an improved manipulator robot with respect to the above-mentioned known SCARA robots.

This object can be achieved by the coating plant robot according to the present invention described in the independent claims.

The coating plant robot according to the present invention first has a robot motion mechanism for allowing an effector to move in space according to the prior art.

The effector may be, for example, a manipulator of a manipulator robot (eg, a gripper). However, instead of this, the effector can be the coating device of the coating robot. This coating device may be, for example, a rotary atomizer (eg, bell atomizer, disc atomizer, etc.), air atomizer, air mix atomizer, airless atomizer, ultrasonic atomizer, or stripe applicator (eg, German Patent Application Publication No. 102013002412). It may be a book). Since these types of coating devices themselves are known from the prior art, detailed description thereof will be omitted.

Therefore, the expression coating plant robot used in the context of the present invention refers to all coating robots used in coating plants, such as manipulating robots (eg, door openers, hood openers), coating robots (eg, painting robots, adhesive robots). Includes robot types.

The robotic motion mechanism according to the present invention has at least one robot arm according to the prior art. The present invention is characterized in that at least one robot arm of the robot motion mechanism has a parallel motion mechanism. Here, the present invention is also characteristic of the prior art based on Patent Document 1. This document also discloses a robotic motion mechanism that combines a series motion mechanism with a parallel motion mechanism. However, in this prior art, the parallel motion mechanism is located proximally and fixedly mounted on the ceiling or wall of the painting booth and does not constitute a robotic arm in the context of the present invention.

In a preferred exemplary embodiment of the invention, a robot arm having a parallel motion mechanism comprises at least two arm portions each having two rotating joints, and a robot arm having a parallel motion mechanism has an arm portion directly. A quadrangle consisting of joints having a parallel motion mechanism is formed so that the robot elements can rotate relative to each other. Here, the rotary joint is preferably arranged at the end of each arm portion. It should also be mentioned that the rotary joint of one arm has a different axis of rotation than the rotary joint of the other arm. In this respect, the present invention differs from conventional industrial robots having a plurality of parallel arm portions having a common rotation axis at each end. It should also be mentioned that the axes of rotation of the two arms preferably extend all parallel to each other. The parallel motion mechanism of the robot arm preferably has only one rotational drive to rotate the arm portion of the robot arm with respect to one of the directly adjacent robot elements. In this respect, the present invention is different from, for example, a conventional parallel motion mechanism (for example, one known from Patent Document 1 and the like). This is because the parallel motion mechanism typically does not have a rotational drive, but rather a linear drive that acts on the effector.

In a preferred exemplary embodiment of the invention, the axes of rotation of the four rotating joints of the two arms form a parallelogram, i.e. a planar quadrangle in which the opposing sides of each pair are parallel to each other. This is because the rotation of the parallel motion mechanism only causes a change in the spatial position of the kinematically following robot element, and the spatial orientation (angle position) of the kinematically following robot element is the rotation of the parallel motion mechanism. It means that it is not affected by movement.

However, it is also possible instead of the four rotating joints of the two arms to form a trapezoid, a quadrangle with two parallel opposite sides and two non-parallel opposite sides. Here, the two arms preferably form the opposite parallel sides of the trapezoid.

In a preferred exemplary embodiment of the invention, the robotic arm with parallel motion is kinematically placed directly between two adjacent robotic elements, while the robot arm with parallel motion is two direct. It is rotatable with respect to adjacent robot elements. Here, the parallel motion mechanism enables the robot elements that are directly adjacent to each other to be held at a constant angle with respect to each other during the rotational movement of the parallel motion mechanism.

Further, in a preferred exemplary embodiment of the invention, the robotic motion mechanism not only comprises one robot arm having a parallel motion mechanism, but rather includes two robotic arms having a parallel motion mechanism. It should be mentioned that the two robot arms with are kinematically contiguously arranged side by side with each other. Here, the two robot arms having a parallel motion mechanism may be kinematically directly arranged side by side with each other. However, preferably, additional robot elements may be kinematically contiguously arranged between two robot arms having a parallel motion mechanism. However, in a preferred exemplary embodiment, the rotary joints of the two robot arms with parallel motion are always oriented substantially horizontally, regardless of the position of the coated plant robot.

In a preferred exemplary embodiment of the invention, the robotic motion mechanism is a first robotic element having a proximally arranged first robot element, a second robotic element rotatable relative to the first robotic element, and a parallel motion mechanism. A robot arm, a third robot element, a fourth robot element that can rotate with respect to a third robot element, a second robot arm having a parallel motion mechanism, a fifth robot element, and a fifth robot element that can rotate. Has a sixth robotic element.

In a preferred exemplary embodiment of the invention, the rotatable second robot element is located below the first robot element and is rotatable around a first rotation axis. On the other hand, the first robot arm having a parallel motion mechanism is rotatable with respect to the second robot element, preferably around a horizontal, second axis. On the other hand, the fourth robot element is rotatable with respect to the third robot element, preferably around a vertical third rotation axis. Further, the second robot arm having a parallel motion mechanism is rotatable with respect to the fourth robot element, preferably around a horizontal fourth rotation axis. Finally, the sixth robot element is rotatable with respect to the fifth robot element, preferably around a vertical fifth rotation axis.

It should also be mentioned that the proximal first robot element is preferably placed in a fixed position so that additional straight rails can be omitted. This is advantageous because the investment and maintenance costs of the coating plant robot are reduced and the straight traveling shaft cannot be contaminated. However, in the context of the present invention, it is also possible that the proximal first robotic element is optionally movable on the travel rail.

In a preferred exemplary embodiment of the invention, the coating plant robot is a manipulator robot and the effector is a manipulator tool, in particular a gripper or hook, configured to open and close the vehicle body in the context of a painting process. is there.

For example, the manipulator robot may be a door opener configured to open and close the door of an automobile body in the context of a painting process.

However, the manipulator robot may be a hood opener configured to open and close a hood (eg, engine hood, trunk hood, etc.) of an automobile body in the context of a painting process.

The manipulator robot according to the present invention is preferably arranged in a fixed position and nevertheless all of the doors on one side of the vehicle body and, in some cases, the trunk hood and engine of the vehicle body. It has a working space large enough to open the hood. The extension of the work space of the manipulator robot to the conventional SCARA robot required for this purpose is made possible by the robot motion mechanism according to the present invention.

It should also be noted that the coating plant robot preferably has a maximum allowable load capacity of at least 1 kg, 2 kg, 5 kg, 10 kg, 20 kg, or 50 kg. In this respect as well, the coating plant robot according to the present invention is distinguished from other types of robots in other technical fields (for example, the medical field) that require a substantially smaller load capacity.

It is also noted that the coating plant robot has a relatively wide range of motion extending horizontally and vertically, preferably over a width, height, and / or length of at least 1 m, 2 m, 4 m, or 6 m. Deserves. Here, the length of the operating range is measured in the coating plant along the transport direction of the coating line, while the width of the operating range is painted laterally in the transport direction of the coating line.

Furthermore, it is also worth noting that the coating plant robot preferably comprises at least two, three, four, or five movable robot axes. However, the coating plant robot according to the present invention should not have too many robot axes because the toughness of the robot motion mechanism deteriorates. Therefore, the coating plant robot according to the present invention preferably has at most 7, 6, or 5 movable robot axes. Thus, in a preferred exemplary embodiment of the invention, the coating plant robot has five movable axes.

The drive of the coating plant robot according to the present invention is preferably carried out by an electric shaft drive, for example, a three-phase synchronous motor. However, the present invention is not limited to this example for mechanical drive of coating plant robots.

Further, in the coating plant robot according to the present invention, it is worth noting that the robot motion mechanism is preferably a combination of a series type and a parallel type.

The concept of a robot as used in the context of the present invention preferably implies that the robot is arbitrarily programmable, satisfying the standard definition of the robot.

Further, the robot motion mechanism is preferably configured such that the effector (eg, gripping tool) maintains a constant spatial orientation (angle position) with respect to the vertical when the robot moves, similar to a conventional SCARA robot. It should also be mentioned.

In a preferred exemplary embodiment of the invention, both arms of a parallel motion mechanism are rotatably attached to the same side of a robotic element, each of which is directly adjacent. However, the parallel motion mechanism has four arm portions, two of which are mounted on one side surface of the adjacent robot element and the other two arm portions are mounted on the opposite side surface of the adjacent robot element. It is also possible to be there.

In a preferred exemplary embodiment of the invention, the coating plant robot is at least partially located in the painting booth, in which the excess coating agent mist (“overspray”) is sprayed as quickly as possible. A downwardly directed airflow is generated from the paint booth, for example, through a booth floor configured as a grid to carry it down. This downward airflow is typically generated by the so-called filter sealing of the paint booth. Since the filter sealing itself is known from the prior art, detailed description thereof will be omitted. Here, the coating plant robot is preferably foldable so as to show minimal interference contours to the downwardly directed airflow in the painting booth in the folded state. The robotic motion mechanism according to the present invention advantageously allows the interference area of the coating plant robot to be minimized, and thus in the horizontal direction, 2 m ² , 1 m ² , 0.5 m ² , 0.25 m ² , or It may have an interference contour of less than 0.1 m ² . Here, it is also worth noting that the interference contour of the coating plant robot in the folded state preferably extends in the longitudinal direction of the coating booth over a length of less than 2 m, 1.5 m, 1 m, or 75 cm. On the other hand, the interference contour of the coating plant robot in the folded state in the lateral direction with respect to the longitudinal direction of the painting booth preferably extends over a width of less than 1 m, 75 cm, or 50 cm.

Other advantageous developments of the invention are disclosed in the features of the dependent claims and are described in more detail below with reference to the drawings, along with a description of preferred exemplary embodiments of the invention. ing.

FIG. 3 is a perspective view of a manipulator robot according to the present invention for opening a door and a hood of an automobile body during a painting process in a painting plant. FIG. 3 is a perspective view of the manipulating robot of FIG. 1 at another robot position. Perspective view of the manipulating robot of FIGS. 1 and 2 at different robot positions. The schematic plan view of the painting booth equipped with the manipulating robot which concerns on this invention in a folded state. The schematic diagram of the parallel motion mechanism which concerns on this invention in the form of a parallelogram. The schematic diagram of the parallel motion mechanism which concerns on this invention in the form of a parallelogram. FIG. 5A is a derivative diagram in which the parallel motion mechanism is in the form of a trapezoid. FIG. 5B is a derivative diagram in which the parallel motion mechanism is in the form of a trapezoid.

The drawings show a preferred exemplary embodiment of the manipulator robot 1 according to the present invention. The manipulating robot 1 is a painting plant for painting the automobile body 2 (FIG. 4) in the context of the painting process so that the inside of the automobile body 2 can be painted. The door 3 and the engine hood 4 of the automobile body 2 are painted. , And can be used to open the trunk hood 5.

The manipulator robot 1 according to the present invention has a first robot element 6 kinematically located proximally. The robot element 6 is arranged in a fixed position so that an additional traveling rail can be omitted. The omission of the straight running rail is advantageous in that the investment and maintenance costs are reduced and the omission of the running shaft does not cause the problem of dirt on the running shaft.

A second robot element 7 is arranged below the proximal robot element 6. The second robot element 7 is rotatable with respect to the first robot element 6 around the vertical rotation axis A1.

A robot arm 8 having a parallel motion mechanism is mounted on the robot element 7. The parallel motion mechanism of the robot arm 8 is mostly composed of two arm portions 8.1 and 8.2 arranged kinematically parallel to each other. The two arm portions 8.1 and 8.2 have rotary joints at their respective ends (FIGS. 5A and 5B). The rotating joints of the two arm portions 8.1 and 8.2 include four different rotating shafts 9.1-9.4. Therefore, the rotating shafts 9.1 and 9.2 of the arm portion 8.1 are located at different positions from the rotating shafts 9.3 and 9.4 of the other arm portion 8.2. This forms a quadrangle in which the rotary joints of the two arm portions 8.1 and 8.2 are joints (in this exemplary embodiment, a quadrangle in the form of a parallelogram P, as shown in FIGS. 5A and 5B). Means that.

An additional robot element 10 is attached kinematically behind the robot arm 8 having a parallel motion mechanism. The rotation of the robot arm 8 results in the fact that the robot element 10 changes its position in space, but the spatial orientation (angled position in the vertical direction) of the robot element 10 is maintained unchanged. Therefore, the robot arm 8 is rotatable with respect to the robot element 7 around the rotation shaft A2. This rotation process results in lateral displacement and ascent and descent of the robot element 10.

Further, the manipulator robot 1 has an additional robot element 11 that is rotatable relative to the robot element 10 around the vertical rotation axis A3.

An additional robot arm 12 with a parallel motion mechanism is rotatably mounted on the robot element 11. The robot arm 12 also has two arm portions 12.1 and 12.2. In other respects, the robot arm 12 is largely identical to the robot arm 8, so refer to the description above to avoid repetition. Rotation of the robot arm 12 around the rotation shaft A4 results in lateral displacement and ascent and descent of the robot element 13 connected to the robot arm 12.

On the robot element 13, a manipulator tool 14 suitable for opening the door 3, the trunk hood 5, and the engine hood 4 of the automobile body 2 is mounted (FIG. 4). The manipulator tool 14 is largely composed of a sixth robot element 15 that is rotatable relative to the robot element 13 around the axis of rotation A5. The sixth robot element 15 has a rotating arm 16 for positioning the gripper 17. Since the configuration and function of the manipulator tool 14 itself are known from the prior art, detailed description thereof will be omitted.

When the position of the manipulator robot 1 changes, the spatial position of the manipulator tool 14 also changes, but the spatial orientation (vertical angular position) of the manipulator tool 14 is not affected. This is realized by the robot motion mechanism according to the present invention.

FIG. 4 shows a state in which the manipulator robot 1 is folded. As is clear from this figure, in the folded state, the manipulator robot 1 forms a relatively small interference contour in the painting booth. The side of the painting booth is separated by a booth wall 18. Here, the interference contour of the manipulator robot 1 extends horizontally over an interference area F _{STO¨R of} less than 0.5 m ² . Furthermore, it should be mentioned that in the folded state of the manipulating robot 1, the interference contour extends laterally with respect to the longitudinal direction of the painting booth only over a width B of less than 0.5 m. It should also be mentioned that, in the folded state, the interference contour of the manipulating robot 1 extends in the longitudinal direction of the painting booth only over a length L of less than 1 m.

The small interference contour of the manipulating robot 1 is advantageous, firstly, in that the downwardly directed airflow in the painting booth is only slightly affected by the interference contour.

Second, the small interference contours of the manipulating robot 1 also make it a slight obstacle for the manipulating robot 1 to other robots in the painting booth (eg, painting robots) in the folded state. It is advantageous.

FIG. 4 further shows that the vehicle body 2 is conveyed through the painting booth by the conveyor 19 (shown only schematically) (the transport direction is indicated by a block arrow). In the figure, the operating range 20 of the manipulator robot is shown by a broken line. This means that the manipulating robot 1 can open the door 3, the trunk hood 5, and the engine hood 4 within the operating range 20. Here, thanks to the robot motion mechanism of the present invention, the manipulator robot 1 can be the door 3 and the engine of the automobile body 2 without the need to rearrange the manipulator robot 1 or the automobile body 2 which is fixed in position. It is important that the reach of the manipulating robot 1 is sufficiently large so that the hood 4 and the trunk hood 5 can be opened.

6A and 6B show derivative diagrams of FIGS. 5A and 5B. However, many of these derivatives are consistent with the above description, so please refer to the above description to avoid repetition. The same reference symbols are used for the corresponding details.

This exemplary exemplary feature is that the rotating shafts 9.1-9.4 of the rotating joints of the parallel motion mechanism do not form the parallelogram P as in FIGS. 5A and 5B, but form the trapezoid T. At the point.

The present invention is not limited to the preferred exemplary embodiments described above. Rather, using the concept of the present invention, innumerable variations and developments are possible, which are also included in the scope of protection of rights. In particular, the present application claims the protection of the subject matter and features of the dependent claims, independent of the claims to which they depend, even in a form that does not include the features of the independent claims.

[Additional Notes]
[Appendix 1]
A coating plant robot (1) including a robot motion mechanism (6-15) for moving the effector (14) in space, particularly as a manipulator robot (1) for opening and closing the vehicle body during a painting process. 1) The coating plant robot (1), wherein the robot motion mechanism (6-15) has a first robot arm (8) having a parallel motion mechanism.

[Appendix 2]
a) The first robot arm (8) having the parallel motion mechanism comprises at least two arm portions (8.1, 8.2) each having two rotary joints, and the parallel motion mechanism is provided. The first robot arm (8) has such that the two arm portions (8.1, 8.2) can rotate relative to the robot elements (7, 10) that are directly adjacent to each other. Form a square consisting of joints,
b) The rotary joint of one arm portion (8.1) has a rotation axis different from that of the rotary joint of the other arm portion (8.2).
c) The rotation axes of the two arm portions (8.1, 8.2) preferably extend in parallel with each other.
d) The parallel motion mechanism rotates the arm portion (8.1, 8.2) of the first robot arm (8) with respect to one of the directly adjacent robot elements (7, 10). Has only one rotary drive for
The coating plant robot (1) according to Appendix 1.

[Appendix 3]
The coating plant robot (1) according to Appendix 2, wherein the rotation axes of the four rotary joints of the two arm portions (8.1, 8.2) are at the corners of a parallelogram (P) or a trapezoid (T). ).

[Appendix 4]
a) The first robot arm (8) having the parallel motion mechanism is kinematically directly arranged between two adjacent robot elements (7, 10).
b) The first robot arm (8) having the parallel motion mechanism is rotatable with respect to the two adjacent robot elements (7, 10).
c) The first robot arm (8) having the parallel motion mechanism holds the robot elements (7, 10) directly adjacent to each other at a constant angle with respect to each other during the rotational motion.
The coating plant robot (1) according to any one of Appendix 1 to 3.

[Appendix 5]
a) The robot motion mechanism includes a second robot arm (12) having a parallel motion mechanism, and the first robot arm (8) having the parallel motion mechanism and the second robot arm having the parallel motion mechanism. (12) and (12) are continuously arranged side by side with each other and / or
b) The rotary joints of the first robot arm (8) having the parallel motion mechanism and / or the second robot arm (12) having the parallel motion mechanism are irrelevant to the position of the coating plant robot (1). In addition, its axis of rotation is always oriented substantially horizontally,
The coating plant robot (1) according to any one of Appendix 1 to 4.

[Appendix 6]
The robot motion mechanism is
a) Proximal first robot element (6) and / or
b) A second robot element (7) that is kinematically located behind the first robot element (6) and is movable relative to the first robot element (6), and / or.
c) The first robot arm (8), which is kinematically located behind the second robot element (7) and has the parallel motion mechanism that is movable with respect to the second robot element (7), and / Or
d) A third robot element kinematically located behind the first robot arm (8) having the parallel motion mechanism and movable with respect to the first robot arm (8) having the parallel motion mechanism. (10) and / or
e) A fourth robot element (11) that is kinematically located behind the third robot element (10) and is movable relative to the third robot element (10), and / or.
f) The second robot arm (12), which is kinematically located behind the fourth robot element (11) and has the parallel motion mechanism that is movable with respect to the fourth robot element (11), and / Or
g) A fifth robot element kinematically located behind the second robot arm (12) having the parallel motion mechanism and movable with respect to the second robot arm (12) having the parallel motion mechanism. (13) and / or
h) A sixth robot element (15), which is kinematically located behind the fifth robot element (13) and is movable relative to the fifth robot element (13).
Equipped with
The coating plant robot (1) according to any one of Appendix 1 to 5.

[Appendix 7]
a) The second robot element (7) is rotatable about the first rotation axis (A1), which is preferably vertical, with respect to the proximal first robot element (6), and / Or
b) The second robot element (7) is preferably located below the first robot element (6) and / or.
c) The first robot arm (8) having the parallel motion mechanism is rotatable with respect to the second robot element (7), preferably around a horizontal second rotation axis (A2). Yes and / or
d) The fourth robot element (11) is rotatable with respect to the third robot element (10), preferably around a vertical third rotation axis (A3), and / or.
e) The second robot arm (12) having the parallel motion mechanism is rotatable with respect to the fourth robot element (11), preferably around a horizontal fourth rotation axis (A4). Yes and / or
f) The sixth robot element (15) is rotatable with respect to the fifth robot element (13), preferably around a vertical fifth rotation axis (A5).
The coating plant robot (1) according to Appendix 6.

[Appendix 8]
a) The proximal first robot element (6) is arranged in a fixed position or
b) The proximal first robot element (6) is movable on the traveling rail.
The coating plant robot (1) according to Appendix 6 or 7.

[Appendix 9]
a) The coating plant robot (1) is a manipulator robot (1), and the effector (14) is a manipulator tool (14) configured to open and close an automobile body (2) during a painting process. In particular, it is a gripper (17) or hook and / or
b) The manipulator robot (1) is a door opener configured to open and close the door (3) of the automobile body (2) during the painting process, and / or.
c) The manipulating robot (1) is configured to open the hoods (4, 5) of the automobile body (2), particularly the engine hood (4) or the trunk hood (5), during the painting process. Being an opener and / or
d) The manipulator robot (1) does not have an additional travel axis and is arranged in a fixed position, nevertheless, of the door (3) on one side of the vehicle body (2). All and the operating range (20) wide enough to open the trunk hood (5) and engine hood (4) of the vehicle body (2).
The coating plant robot (1) according to any one of Appendix 1 to 8.

[Appendix 10]
a) The coating plant robot (1) has a load capacity of at least 1 kg, 2 kg, 5 kg, 10 kg, 20 kg, or 50 kg, and / or.
b) The coating plant robot (1) has an operating range (20) extending horizontally over a width of at least 1 m, 2 m, 4 m, or 6 m and / or.
c) The coating plant robot (1) has an operating range (20) extending horizontally over a length of at least 1 m, 2 m, 4 m, or 6 m and / or.
d) The coating plant robot (1) has an operating range (20) extending vertically over a height of at least 1 m, 2 m, 4 m, or 6 m and / or.
e) The coating plant robot (1) comprises at least two, three, four, or five movable robot axes (A1-A5) and / or.
f) The coating plant robot (1) comprises, at most, 7, 6, or 5 movable robot axes (A1-A5) and / or.
g) The coating plant robot (1) comprises at least one electrical shaft for mechanically driving the robot shaft (A1-A5), in particular by a three-phase synchronous motor, and / or.
h) The robot motion mechanism is partially serial and partially parallel, and / or
i) The coating plant robot (1) is optionally programmable and / or
j) The robot motion mechanism is preferably configured such that the effector (14) maintains a constant spatial orientation with respect to the vertical when the robot moves.
The coating plant robot (1) according to any one of Appendix 1 to 9.

[Appendix 11]
a) The coating plant robot (1) is at least partially located in the painting booth.
b) Inside the coating booth, there is an airflow directed downwards to carry the excess coating mist down from the coating booth as quickly as possible.
c) The coating plant robot (1) can be folded so as to show a minimum interference contour to the downwardly directed airflow in the folded state.
d) The interference contour of the coating plant robot (1) in the folded state is an interference area of less than ² m ² , 1 m ² , 0.5 m ² , 0.25 m ² , or 0.1 m ² ( _FSTO¨). Spreads horizontally over _R )
e) The interference area ( _FSTO¨R ) of the coating plant robot (1) preferably has a length (L) of less than 2 m, 1.5 m, 1 m, or 75 cm in the longitudinal direction of the coating booth. Have and
f) The interference area ( _FSTO¨R ) of the coating plant robot (1) preferably has a width (B) of less than 1 m, 75 cm, or 50 cm in the lateral direction of the coating booth.
The coating plant robot (1) according to any one of Appendix 1 to 10.

1 Manipulating robot 2 Car body 3 Car body door 4 Car body engine hood 5 Car body trunk hood 6 First robot element 7 Second robot element 8 First robot arm with parallel motion mechanism 8.1-8. 2 Arm portion of the first robot arm 9.1-9.4 Rotation axis of the rotating joint of the parallel motion mechanism 10 Third robot element 11 Fourth robot element 12 Second robot arm having a parallel motion mechanism 12.1-12. 2 Arm part of 2nd robot arm 13 5th robot element 15 6th robot element 14 Manipulating tool 16 Manipulating tool rotatable arm 17 Manipulating tool gripper 18 Painting booth booth wall 19 Conveyor 20 Operating range A1- A5 _Rotation axis B Interference contour width of the manipulating robot in the folded state F _STO¨R Horizontal interference area of the interference contour of the manipulating robot in the folded state L Interference contour of the manipulating robot in the folded state Length P Parallel quadrilateral form of parallel motion mechanism T Trapezoidal form of parallel motion mechanism

Claims (10)

A coating plant robot (1) provided with a robot motion mechanism (6-15) for moving an effector (14) in space.
The robot motion mechanism (6-15)
a) Proximal first robot element (6),
b) A second robot element (7), which is kinematically located behind the first robot element (6) and is movable relative to the first robot element (6).
c) A first robot arm (8), which is kinematically located behind the second robot element (7) and has a parallel motion mechanism that is movable with respect to the second robot element (7).
d) A third robot element kinematically located behind the first robot arm (8) having the parallel motion mechanism and movable with respect to the first robot arm (8) having the parallel motion mechanism. (10),
e) A fourth robot element (11), which is kinematically located behind the third robot element (10) and is movable relative to the third robot element (10).
f) A second robot arm (12), which is kinematically located behind the fourth robot element (11) and has the parallel motion mechanism that is movable relative to the fourth robot element (11).
g) A fifth robot element kinematically located behind the second robot arm (12) having the parallel motion mechanism and movable with respect to the second robot arm (12) having the parallel motion mechanism. (13), and h) A sixth robot element (15), which is kinematically located behind the fifth robot element (13) and is movable relative to the fifth robot element (13).
Have,
i) The coating plant robot (1) is at least partially located in the painting booth.
j) Inside the coating booth, there is an airflow directed downwards to carry the excess coating mist down from the coating booth as quickly as possible.
k) The coating plant robot (1), the first robot arm (8) and the second robot arm (12) is such that the lead straight respectively, it is possible to take a state I tatami folding,
l) The contour of interference of the coating plant robot (1) with the downwardly directed airflow in the folded state extends horizontally over an interference area ( _FSTO¨R ) of less than 2 m ² .
A coating plant robot (1), characterized in that. a) The first robot arm (8) having the parallel motion mechanism comprises at least two arm portions (8.1, 8.2) each having two rotary joints, and the parallel motion mechanism is provided. The first robot arm (8) has such that the two arm portions (8.1, 8.2) can rotate relative to the robot elements (7, 10) that are directly adjacent to each other. Form a square consisting of joints,
b) The rotary joint of one arm portion (8.1) has a rotation axis different from that of the rotary joint of the other arm portion (8.2).
c) The rotation axes of the two arm portions (8.1, 8.2) all extend parallel to each other.
d) The parallel motion mechanism rotates the two arm portions (8.1, 8.2) of the first robot arm (8) with respect to one of the robot elements (7, 10) directly adjacent to each other. Has only one rotary drive to move,
The coating plant robot (1) according to claim 1. The coating plant robot according to claim 2, wherein the rotation axes of the four rotary joints of the two arm portions (8.1, 8.2) are at the corners of a parallelogram (P) or a trapezoid (T). 1). a) The first robot arm (8) having the parallel motion mechanism is kinematically directly arranged between two adjacent robot elements (7, 10).
b) The first robot arm (8) having the parallel motion mechanism is rotatable with respect to the two adjacent robot elements (7, 10).
c) The first robot arm (8) having the parallel motion mechanism holds the robot elements (7, 10) directly adjacent to each other at a constant angle with respect to each other during the rotational motion.
The coating plant robot (1) according to any one of claims 1 to 3. The first robot arm (8) having the parallel motion mechanism and the second robot arm (12) having the parallel motion mechanism are continuously arranged side by side with each other.
The coating plant robot (1) according to any one of claims 1 to 4. The second robot element (7) is rotatable about the vertical first rotation axis (A1) with respect to the proximal first robot element (6).
The coating plant robot (1) according to any one of claims 1 to 5. a) The proximal first robot element (6) is arranged in a fixed position or
b) The proximal first robot element (6) is movable on the traveling rail.
The coating plant robot (1) according to any one of claims 1 to 6. Before Symbol coating plant robot (1) is a manipulating robot (1), further,
a) The effector (14) is a manipulator (14) configured to open and close the automobile body (2) during a painting process, or
b) The manipulator robot (1) is a door opener configured to open and close the door (3) of the automobile body (2) during the painting process.
c) The manipulator robot (1) is a hood opener configured to open the hoods (4, 5) of the automobile body (2) during the painting process.
The coating plant robot (1) according to any one of claims 1 to 7. The coating plant robot (1) has a load capacity of at least 2 kg.
The coating plant robot (1) according to any one of claims 1 to 8. a) The interference area ( _FSTO¨R ) of the coating plant robot (1) has a length (L) of less than 2 m in the longitudinal direction of the painting booth.
b) The interference area ( _FSTO¨R ) of the coating plant robot (1) has a width (B) of less than 1 m in the lateral direction of the painting booth.
The coating plant robot (1) according to any one of claims 1 to 9.

Images